Self-Driving Car Engineer Nanodegree¶
Deep Learning¶
Project: Build a Traffic Sign Recognition Classifier ---- Luke Xu¶
In this notebook, I build a traffic sign recognition classifier based on the German Traffic sign data set. I used several data preprocessing techniques, compared two different CNN structure and received close to human performance on the testing set.
In addition to implementing code, I did many experiments to get a better understanding of overfitting, underfitting and the effect of various hyper parameters.
At the end I get test accuracy is 97.22%
Step 0: Load The Data¶
# Load pickled data
import pickle
training_file = 'train.p'
testing_file = 'test.p'
with open(training_file, mode='rb') as f:
train = pickle.load(f)
with open(testing_file, mode='rb') as f:
test = pickle.load(f)
X_train, y_train = train['features'], train['labels']
X_test, y_test = test['features'], test['labels']
Step 1: Dataset Summary & Exploration¶
The pickled data is a dictionary with 4 key/value pairs:
'features'is a 4D array containing raw pixel data of the traffic sign images, (num examples, width, height, channels).'labels'is a 2D array containing the label/class id of the traffic sign. The filesignnames.csvcontains id -> name mappings for each id.'sizes'is a list containing tuples, (width, height) representing the the original width and height the image.'coords'is a list containing tuples, (x1, y1, x2, y2) representing coordinates of a bounding box around the sign in the image. THESE COORDINATES ASSUME THE ORIGINAL IMAGE. THE PICKLED DATA CONTAINS RESIZED VERSIONS (32 by 32) OF THESE IMAGES
Complete the basic data summary below.
# Get validation data from training
from sklearn.model_selection import train_test_split
X_train, X_validation, y_train, y_validation = train_test_split(
X_train, y_train, test_size=0.25, random_state=42)
assert(len(X_train) == len(y_train))
assert(len(X_validation) == len(y_validation))
assert(len(X_test) == len(y_test))
n_train = len(X_train)
n_test = len(X_test)
image_shape = X_train[0].shape
n_classes = len(set(list(y_train)))
print("Number of training examples =", n_train)
print("Number of testing examples =", n_test)
print("Image data shape =", image_shape)
print("Number of classes =", n_classes)
Visualize the German Traffic Signs Dataset using the pickled file(s). This is open ended, suggestions include: plotting traffic sign images, plotting the count of each sign, etc.
The Matplotlib examples and gallery pages are a great resource for doing visualizations in Python.
NOTE: It's recommended you start with something simple first. If you wish to do more, come back to it after you've completed the rest of the sections.
import random
import numpy as np
import matplotlib.pyplot as plt
%matplotlib inline
#from augmentation import transform_image
import cv2
plt.hist(y_train,n_classes,alpha=0.5)
plt.hist(y_test,n_classes,alpha=0.5)
plt.title("Frequency of different traffic signs ")
plt.xlabel("Traffic signs")
plt.ylabel("Frequency")
plt.legend(('Training', 'Testing'))
plt.show()
Step 2: Design and Test a Model Architecture¶
Design and implement a deep learning model that learns to recognize traffic signs. Train and test your model on the German Traffic Sign Dataset.
There are various aspects to consider when thinking about this problem:
- Neural network architecture
- Play around preprocessing techniques (normalization, rgb to grayscale, etc)
- Number of examples per label (some have more than others).
- Generate fake data.
Here is an example of a published baseline model on this problem. It's not required to be familiar with the approach used in the paper but, it's good practice to try to read papers like these.
NOTE: The LeNet-5 implementation shown in the classroom at the end of the CNN lesson is a solid starting point. You'll have to change the number of classes and possibly the preprocessing, but aside from that it's plug and play!
Implementation¶
Use the code cell (or multiple code cells, if necessary) to implement the first step of your project. Once you have completed your implementation and are satisfied with the results, be sure to thoroughly answer the questions that follow.
def CLAHE_transform(img):
#Converting image to LAB Color model
lab= cv2.cvtColor(img, cv2.COLOR_BGR2LAB)
#Splitting the LAB image to different channels
l, a, b = cv2.split(lab)
#Applying CLAHE to L-channel
clahe = cv2.createCLAHE(clipLimit=5, tileGridSize=(4,4))
cl = clahe.apply(l)
#Merge the CLAHE enhanced L-channel with the a and b channel
limg = cv2.merge((cl,a,b))
#Converting image from LAB Color model to RGB model
final = cv2.cvtColor(limg, cv2.COLOR_LAB2BGR)
return final
def plot_image(data = X_train,label = y_train,
title = 'German Traffic Signs Dateset',
NUM_OF_IMAGE =20,transform = False ):
#Randomly find n images for each class
#flag used to find n images for each class
n=[0]*len(sign_list)
image = [None]*len(sign_list)
# Add image with the same index together as a row
# Until all index has at least N images
while sum(n)<NUM_OF_IMAGE*len(sign_list):
index = random.randint(0, len(data)-1)
for j in range(len(sign_list)):
if label[index] == j:
if n[j] == 0:
image[j] = data[index]
if transform:
image[j]=CLAHE_transform(image[j])
else:
image[j]=image[j]
elif n[j] < NUM_OF_IMAGE:
if transform:
image[j] = np.append(image[j],CLAHE_transform(data[index]),axis =1)
else:
image[j] = np.append(image[j],data[index],axis =1)
else:
continue
n[j]+=1
img = image[0]
for i in range(len(sign_list)-1):
img = np.append(img,image[i+1],axis = 0)
y_pos = np.arange(n_classes)*32+16
plt.figure(figsize=(120,20))
plt.yticks(y_pos, sign_list)
plt.ylabel('Sign label abbreviations')
plt.title(title)
plt.imshow(img)
#Looking into the categories and use shorter names to represent the meaning.
import pandas as pd
names = pd.read_csv('signnames.csv')
sign_list=['20','30','50','60','70','80','End80','100','120','NoPa','NP>3.5',
'RoW+','PrioR','Yield','Stop','NCar','N>3.5','NEnter','Caution','DgsCvL','DgsCvR',
'DbCv','Bumpy','Slippery','NarowR','RoadWrk','Signal','Pdstrain','Child','Bike','ice',
'animal','Edlim','TnR','TnL','AheadO','AorR','AorL','KeepR','KeepL','Round','ENPass','EPass>3.5']
print(len(names),len(sign_list))
#plot image before and after transform
plot_image()
plot_image(title = 'After CLAHE transform', transform = True)
def transform_image(img,ang_range=10,shear_range=5,trans_range=10):
'''
This function transforms images to generate new images.
The function takes in following arguments,
1- Image
2- ang_range: Range of angles for rotation
3- shear_range: Range of values to apply affine transform to
4- trans_range: Range of values to apply translations over.
A Random uniform distribution is used to generate different parameters for transformation
'''
# Rotation
ang_rot = np.random.uniform(ang_range)-ang_range/2
rows,cols,ch = img.shape
Rot_M = cv2.getRotationMatrix2D((cols/2,rows/2),ang_rot,1)
# Translation
tr_x = trans_range*np.random.uniform()-trans_range/2
tr_y = trans_range*np.random.uniform()-trans_range/2
Trans_M = np.float32([[1,0,tr_x],[0,1,tr_y]])
# Shear
pts1 = np.float32([[5,5],[20,5],[5,20]])
pt1 = 5+shear_range*np.random.uniform()-shear_range/2
pt2 = 20+shear_range*np.random.uniform()-shear_range/2
# Brightness
pts2 = np.float32([[pt1,5],[pt2,pt1],[5,pt2]])
shear_M = cv2.getAffineTransform(pts1,pts2)
img = cv2.warpAffine(img,Rot_M,(cols,rows))
img = cv2.warpAffine(img,Trans_M,(cols,rows))
img = cv2.warpAffine(img,shear_M,(cols,rows))
return img
augmented_X = []
augmented_y = []
# Apply CLAHE transform to X_test, X_validation as well
for index in range(len(X_test)):
X_test[index] = CLAHE_transform(X_test[index])
for index in range(len(X_validation)):
X_validation[index] =CLAHE_transform(X_validation[index])
for index in range(len(X_train)):
#Add original image and index
augmented_X.append(CLAHE_transform(X_train[index]))
augmented_y.append(y_train[index])
for i in range(8):
#Add more data
augmented_X.append(transform_image(CLAHE_transform(X_train[index])))
augmented_y.append(y_train[index])
plot_image(data = augmented_X,label = augmented_y,title='Augmented dataset')
print(len(augmented_X))
print(len(X_train))
from sklearn.utils import shuffle
X_train, y_train = shuffle(augmented_X, augmented_y)
#X_train, y_train = shuffle(X_train, y_train)
print(len(X_train),len(y_train))
import tensorflow as tf
from tensorflow.contrib.layers import flatten
plt.imshow(X_train[-1])
sign_list[int(y_train[-1])]
def LeNet(x,dropout):
# Hyperparameters
mu = 0
sigma = 0.1
# SOLUTION: Layer 1: Convolutional. Input = 32x32x1. Output = 28x28x6.
conv1_W = tf.Variable(tf.truncated_normal(shape=(5, 5, 3, 6), mean = mu, stddev = sigma))
conv1_b = tf.Variable(tf.zeros(6))
conv1 = tf.nn.conv2d(x, conv1_W, strides=[1, 1, 1, 1], padding='VALID') + conv1_b
# SOLUTION: Activation.
conv1 = tf.nn.relu(conv1)
# SOLUTION: Pooling. Input = 28x28x6. Output = 14x14x6.
conv1 = tf.nn.max_pool(conv1, ksize=[1, 2, 2, 1], strides=[1, 2, 2, 1], padding='VALID')
# SOLUTION: Layer 2: Convolutional. Output = 10x10x16.
conv2_W = tf.Variable(tf.truncated_normal(shape=(5, 5, 6, 16), mean = mu, stddev = sigma))
conv2_b = tf.Variable(tf.zeros(16))
conv2 = tf.nn.conv2d(conv1, conv2_W, strides=[1, 1, 1, 1], padding='VALID') + conv2_b
# SOLUTION: Activation.
conv2 = tf.nn.relu(conv2)
# SOLUTION: Pooling. Input = 10x10x16. Output = 5x5x16.
conv2 = tf.nn.max_pool(conv2, ksize=[1, 2, 2, 1], strides=[1, 2, 2, 1], padding='VALID')
# SOLUTION: Flatten. Input = 5x5x16. Output = 400.
fc0 = flatten(conv2)
# SOLUTION: Layer 3: Fully Connected. Input = 400. Output = 120.
fc1_W = tf.Variable(tf.truncated_normal(shape=(400, 120), mean = mu, stddev = sigma))
fc1_b = tf.Variable(tf.zeros(120))
fc1 = tf.matmul(fc0, fc1_W) + fc1_b
# SOLUTION: Activation.
fc1 = tf.nn.relu(fc1)
fc1 = tf.nn.dropout(fc1, dropout)
# SOLUTION: Layer 4: Fully Connected. Input = 120. Output = 84.
fc2_W = tf.Variable(tf.truncated_normal(shape=(120, 84), mean = mu, stddev = sigma))
fc2_b = tf.Variable(tf.zeros(84))
fc2 = tf.matmul(fc1, fc2_W) + fc2_b
# SOLUTION: Activation.
fc2 = tf.nn.relu(fc2)
# SOLUTION: Layer 5: Fully Connected. Input = 84. Output = 43.
fc3_W = tf.Variable(tf.truncated_normal(shape=(84, 43), mean = mu, stddev = sigma))
fc3_b = tf.Variable(tf.zeros(43))
logits = tf.matmul(fc2, fc3_W) + fc3_b
return logits
from tensorflow.contrib.layers import flatten
def conv_net(x,dropout = 0):
# Hyperparameters
mu = 0
sigma = 0.1
# SOLUTION: Layer 1: Convolutional. Input = 32x32x1. Output = 28x28x100.
conv1_W = tf.Variable(tf.truncated_normal(shape=(5, 5, 3, 100), mean = mu, stddev = sigma))
conv1_b = tf.Variable(tf.zeros(100))
conv1 = tf.nn.conv2d(x, conv1_W, strides=[1, 1, 1, 1], padding='VALID') + conv1_b
conv1 = tf.nn.relu(conv1)
# SOLUTION: Pooling. Input = 28x28x100. Output = 14x14x100.
conv1 = tf.nn.max_pool(conv1, ksize=[1, 2, 2, 1], strides=[1, 2, 2, 1], padding='VALID')
# SOLUTION: Layer 2: Convolutional. Output = 12x12x150.
conv2_W = tf.Variable(tf.truncated_normal(shape=(3, 3, 100, 150), mean = mu, stddev = sigma))
conv2_b = tf.Variable(tf.zeros(150))
conv2 = tf.nn.conv2d(conv1, conv2_W, strides=[1, 1, 1, 1], padding='VALID') + conv2_b
# SOLUTION: Activation.
conv2 = tf.nn.relu(conv2)
# SOLUTION: Pooling. Input =12x12x150.. Output = 6x6x150.
conv2 = tf.nn.max_pool(conv2, ksize=[1, 2, 2, 1], strides=[1, 2, 2, 1], padding='VALID')
# SOLUTION: Layer 3: Convolutional. Output = 5x5x250.
conv3_W = tf.Variable(tf.truncated_normal(shape=(2, 2, 150, 250), mean = mu, stddev = sigma))
conv3_b = tf.Variable(tf.zeros(250))
conv3 = tf.nn.conv2d(conv2, conv3_W, strides=[1, 1, 1, 1], padding='VALID') + conv3_b
# SOLUTION: Activation.
conv3 = tf.nn.relu(conv3)
# SOLUTION: Pooling. Input = 5x5x250. Output =2x2x250.
conv3 = tf.nn.max_pool(conv3, ksize=[1, 2, 2, 1], strides=[1, 2, 2, 1], padding='VALID')
# SOLUTION: Flatten. Input = 2x2x250. Output = 300.
fc0 = flatten(conv3)
# SOLUTION: Layer 3: Fully Connected. Input = 1000. Output = 300.
fc1_W = tf.Variable(tf.truncated_normal(shape=(1000, 300), mean = mu, stddev = sigma))
fc1_b = tf.Variable(tf.zeros(300))
fc1 = tf.matmul(fc0, fc1_W) + fc1_b
# SOLUTION: Activation.
fc1 = tf.nn.relu(fc1)
fc1 = tf.nn.dropout(fc1, dropout)
# SOLUTION: Layer 4: Fully Connected. Input = 300. Output = 100.
fc2_W = tf.Variable(tf.truncated_normal(shape=(300, 43), mean = mu, stddev = sigma))
fc2_b = tf.Variable(tf.zeros(43))
logits = tf.matmul(fc1, fc2_W) + fc2_b
#logits = fc2
# # SOLUTION: Activation.
# fc2 = tf.nn.relu(fc2)
# # SOLUTION: Layer 5: Fully Connected. Input = 100. Output = 43.
# fc3_W = tf.Variable(tf.truncated_normal(shape=(100, 43), mean = mu, stddev = sigma))
# fc3_b = tf.Variable(tf.zeros(43))
# logits = tf.matmul(fc2, fc3_W) + fc3_b
return logits
rand = 10**(-np.random.uniform(3,6,10))
rand
# Random search for the learning rate
data = []
best_validation_accuracy = 0.9
for i in rand:
data_list = [i]
x = tf.placeholder(tf.float32, (None, 32, 32, 3))
y = tf.placeholder(tf.int32, (None))
one_hot_y = tf.one_hot(y, 43)
keep_prob = tf.placeholder(tf.float32)
rate = i
print('learning rate = ', rate)
logits = conv_net(x,keep_prob)
#logits = LeNet(x,keep_prob)
cross_entropy = tf.nn.softmax_cross_entropy_with_logits(logits, one_hot_y)
loss_operation = tf.reduce_mean(cross_entropy)
optimizer = tf.train.AdamOptimizer(learning_rate = rate)
training_operation = optimizer.minimize(loss_operation)
correct_prediction = tf.equal(tf.argmax(logits, 1), tf.argmax(one_hot_y, 1))
accuracy_operation = tf.reduce_mean(tf.cast(correct_prediction, tf.float32))
saver = tf.train.Saver()
#Add loss in the evaluate function
def evaluate(X_data, y_data):
num_examples = len(X_data)
total_accuracy = 0
total_loss = 0
sess = tf.get_default_session()
for offset in range(0, num_examples, BATCH_SIZE):
batch_x, batch_y = X_data[offset:offset+BATCH_SIZE], y_data[offset:offset+BATCH_SIZE]
accuracy,_loss = sess.run([accuracy_operation,loss_operation],
feed_dict={x: batch_x, y: batch_y,keep_prob: 1.0})
total_accuracy += (accuracy * len(batch_x))
total_loss += (_loss*len(batch_x))
return(total_accuracy / num_examples, total_loss / num_examples)
EPOCHS = 50
BATCH_SIZE = 128
DROPOUT = 0.8
EARLY_STOP = 5
with tf.Session() as sess:
sess.run(tf.global_variables_initializer())
num_examples = len(X_train)
print("Training...")
print()
train_acc = []
valid_acc = []
train_loss = []
valid_loss = []
for i in range(EPOCHS):
X_train, y_train = shuffle(X_train, y_train)
for offset in range(0, num_examples, BATCH_SIZE):
end = offset + BATCH_SIZE
batch_x, batch_y = X_train[offset:end], y_train[offset:end]
sess.run(training_operation, feed_dict={x: batch_x, y: batch_y,keep_prob:DROPOUT})
training_accuracy,training_loss = evaluate(X_train, y_train)
validation_accuracy,validation_loss = evaluate(X_validation, y_validation)
train_acc.append(training_accuracy)
valid_acc.append(validation_accuracy)
train_loss.append(training_loss)
valid_loss.append(validation_loss)
print("EPOCH {} ...".format(i+1))
print("Train Accuracy = {:.4f} ~".format(training_accuracy),
"Validation Accuracy = {:.3f}".format(validation_accuracy),
"Train loss = {:.4f}".format(training_loss),
"Validation loss = {:.3f}".format(validation_loss))
if len(valid_loss)>6 and \
valid_loss[-1]>= valid_loss[-2] and valid_loss[-1] >= np.mean(valid_loss[-EARLY_STOP-1:]) and\
valid_loss[-2]>= valid_loss[-3] and valid_loss[-2] >= np.mean(valid_loss[-EARLY_STOP-2:-2]) :
print('Early stop, last five validation loss mean is ',np.mean(valid_loss[-EARLY_STOP:]))
break
data_list.append(train_loss)
data_list.append(valid_loss)
plt.plot(train_loss, 'b--',valid_loss,'ro')
plt.show()
plt.plot(train_acc, 'b--',valid_acc,'ro')
plt.show()
if valid_loss[-1] > best_validation_accuracy:
saver.save(sess, 'best_net')
print("Model saved")
data.append(data_list)
# Good result 8.89639749842e-05 6.23291123951e-05
# Potential 2.06207481419e-05 3.17401106699e-05 1.72062777121e-05 7.70175254958e-06(too slow) 6.12041999144e-06
x = tf.placeholder(tf.float32, (None, 32, 32, 3))
y = tf.placeholder(tf.int32, (None))
one_hot_y = tf.one_hot(y, 43)
keep_prob = tf.placeholder(tf.float32)
rate =7.3951e-05
print('learning rate = ', rate)
logits = conv_net(x,keep_prob)
#logits = LeNet(x,keep_prob)
cross_entropy = tf.nn.softmax_cross_entropy_with_logits(logits, one_hot_y)
loss_operation = tf.reduce_mean(cross_entropy)
optimizer = tf.train.AdamOptimizer(learning_rate = rate)
training_operation = optimizer.minimize(loss_operation)
correct_prediction = tf.equal(tf.argmax(logits, 1), tf.argmax(one_hot_y, 1))
accuracy_operation = tf.reduce_mean(tf.cast(correct_prediction, tf.float32))
saver = tf.train.Saver()
#Add loss in the evaluate function
def evaluate(X_data, y_data):
num_examples = len(X_data)
total_accuracy = 0
total_loss = 0
sess = tf.get_default_session()
for offset in range(0, num_examples, BATCH_SIZE):
batch_x, batch_y = X_data[offset:offset+BATCH_SIZE], y_data[offset:offset+BATCH_SIZE]
accuracy,_loss = sess.run([accuracy_operation,loss_operation],
feed_dict={x: batch_x, y: batch_y,keep_prob: 1.0})
total_accuracy += (accuracy * len(batch_x))
total_loss += (_loss*len(batch_x))
return(total_accuracy / num_examples, total_loss / num_examples)
EPOCHS = 100
BATCH_SIZE = 64
DROPOUT = 0.8
EARLY_STOP = 5
with tf.Session() as sess:
sess.run(tf.global_variables_initializer())
num_examples = len(X_train)
print("Training...")
print()
train_acc = []
valid_acc = []
train_loss = []
valid_loss = []
for i in range(EPOCHS):
X_train, y_train = shuffle(X_train, y_train)
for offset in range(0, num_examples, BATCH_SIZE):
end = offset + BATCH_SIZE
batch_x, batch_y = X_train[offset:end], y_train[offset:end]
sess.run(training_operation, feed_dict={x: batch_x, y: batch_y,keep_prob:DROPOUT})
training_accuracy,training_loss = evaluate(X_train, y_train)
validation_accuracy,validation_loss = evaluate(X_validation, y_validation)
train_acc.append(training_accuracy)
valid_acc.append(validation_accuracy)
train_loss.append(training_loss)
valid_loss.append(validation_loss)
print("EPOCH {} ...".format(i+1))
print("Train Accuracy = {:.4f} ~".format(training_accuracy),
"Validation Accuracy = {:.3f}".format(validation_accuracy),
"Train loss = {:.4f}".format(training_loss),
"Validation loss = {:.3f}".format(validation_loss))
if len(valid_loss)>7 and \
valid_loss[-1]>= valid_loss[-2] and valid_loss[-1] >= np.mean(valid_loss[-EARLY_STOP-1:]) and\
valid_loss[-2]>= valid_loss[-3] and valid_loss[-2] >= np.mean(valid_loss[-EARLY_STOP-2:-2]) and\
valid_loss[-3]>= valid_loss[-4] and valid_loss[-3] >= np.mean(valid_loss[-EARLY_STOP-3:-3]):
print('Early stop, last five validation loss mean is ',np.mean(valid_loss[-EARLY_STOP:]))
break
plt.plot(train_loss, 'b--',valid_loss,'ro')
plt.show()
plt.plot(train_acc, 'b--',valid_acc,'ro')
plt.show()
saver.save(sess, 'lenet')
print("Model saved")
start = 15
plt.plot(train_acc[start:], 'b-',valid_acc[start:],'r-')
plt.savefig('b_size='+str(BATCH_SIZE)+'learn_rate='+str(rate),format='png')
plt.show()
plt.plot(train_loss[start:], 'b-',valid_loss[start:],'r-')
plt.savefig('b_size='+str(BATCH_SIZE)+'learn_rate='+str(rate)+'loss',format='png')
plt.show()
with tf.Session() as sess:
saver.restore(sess, tf.train.latest_checkpoint('.'))
test_accuracy = evaluate(X_test, y_test)
print(test_accuracy)
with tf.Session() as sess:
saver.restore(sess, tf.train.latest_checkpoint('.'))
test_accuracy = evaluate(X_test, y_test)
print(test_accuracy)
prediction = tf.argmax(logits, 1)
Question 1¶
Describe how you preprocessed the data. Why did you choose that technique?
Answer:¶
Preprocessing method¶
The preprocessing is to find the invariance and symmetry of images in general and at the time try to avoid customized feature engineering to the specific dataset. In the image above, we can clearly seen that there are several universal invariance amount contrast, size, shape.
- CLAHE Transform
- Data augmentation
http://people.idsia.ch/~juergen/ijcnn2011.pdf In this paper it shows that the CLAHE Transform did the best among other normalization methods, intuitively it make sense because the high variance of the contrast situation in the original dataset. I'll show the transformed images
### Generate data additional data (OPTIONAL!)
### and split the data into training/validation/testing sets here.
### Feel free to use as many code cells as needed.
Question 2¶
Describe how you set up the training, validation and testing data for your model. Optional: If you generated additional data, how did you generate the data? Why did you generate the data? What are the differences in the new dataset (with generated data) from the original dataset?
Answer:¶
I use skit-learn train_test_split to get 25% data from the training set as a validation set.
data augmentation:¶
For every image randomly generate 10 augmented images
- Motivation: During training, I found using simple LeNet I can easily overfit the original data set, therefore, data augmentation is helpful to get more data and hopefully get better results.
Note that, I think it's OK for different class have different number of training examples. The assumption is that the distribution of different will reflect the true distribution of all the traffic signs, therefore a bias towards larger number of specific class is actually good thing. Another concern of making number of classes equal is that augmented image can't catch some variations of true data, so for some example if you augment 10 times and have the same number of training examples as the larger class, you can't actually know whether the bias is the same. Therefore when doing data augmentation, I will uniformly augment every image.
Question 3¶
What does your final architecture look like? (Type of model, layers, sizes, connectivity, etc.) For reference on how to build a deep neural network using TensorFlow, see Deep Neural Network in TensorFlow from the classroom.
Answer:¶
In this project I tried two architecture, first is Lenet:
Architecture 1 LeNet¶
Layer 1: Convolutional. The output shape should be 28x28x6.
Activation. Relu
Pooling. The output shape should be 14x14x6.
Layer 2: Convolutional. The output shape should be 10x10x16.
Activation. Relu
Pooling. The output shape should be 5x5x16.
Flatten. Flatten the output shape of the final pooling layer such that it's 1D instead of 3D.
Layer 3: Fully Connected. This should have 120 outputs.
Activation. Relu
Layer 4: Fully Connected. This should have 84 outputs.
Activation. Relu
Layer 5: Fully Connected (Logits). This should have 10 outputs.
Output¶
Return the result of the 2nd fully connected layer.
The second one is similar to the paper http://people.idsia.ch/~juergen/ijcnn2011.pdf I add one more fully connected layer at the end.
Architecture 2¶
Layer 1: Convolutional. The output shape should be 28x28x100.
Activation. Relu
Pooling. The output shape should be 14x14x100.
Layer 2: Convolutional. The output shape should be 12x12x150.
Activation. Relu
Pooling. The output shape should be 6x6x150.
Layer 3: Convolutional. The output shape should be 5x5x250.
Activation. Relu
Pooling. The output shape should be 2x2x250.
Flatten. Flatten the output shape of the final pooling layer such that it's 1D instead of 3D.
Layer 4: Fully Connected. This should have 200 outputs.
Activation. Relu and Drop out
Layer 5: Fully Connected (Logits). This should have 43 outputs.
Output¶
Return the result of the 3nd fully connected layer.
Question 4¶
How did you train your model? (Type of optimizer, batch size, epochs, hyperparameters, etc.)
Answer:¶
- Optimizer I choose Adam optimizer, it works well.
- Batch size I tried batch size from 8 16, 32 ... to 1024 The smaller the batch size, the faster the network converges, however if the number is too small (like 8) It oscillating a lot and couldn't converge to a good result.
- Epochs Since I am using my local machine, I want make the most use out of it, generally I set number of epochs to 50, also I implement my own version of early stop(not exactly the same as other's) basically monitoring the recent few training loss, if it is larger than the average of last 5 then stop.
- Learning rate Learning rate is by far the most tricky one. I did randomize search between 10^-3 to 10^-7 for the larger network. I found something really strange for the large network. When my learning rate is > 10^-4. It almost always died at 0.057 accuracy. when I set between 10^-4-10^-5 sometimes dies sometimes doesn't and give a really good result within 50 EPOCH. (99.7% validation accuracy) Smaller 10^5 to 10^6 it almost always shows potential but too slow, only get 10% accuracy at 20% accuracy at 50 EPOCH. Also, with same initialization, I can get totally different behavior. I suppose this is something to do with the initialization, Maybe I'll try the Xavier if I have time later. I kept one of the experiment in this note book, please leave a comment if you know what's happening.
- Dropout rate This is really powerful way to regularization, With even 0.99 rate the distance between training accuracy and testing accuracy decrease dramatically. Without it, if I let the network to train too long, it almost always end up overfitting. On the other hand if the dropout rate is too low, the system is very unstable. I choose 0.8 it performs well.
Question 5¶
What approach did you take in coming up with a solution to this problem? It may have been a process of trial and error, in which case, outline the steps you took to get to the final solution and why you chose those steps. Perhaps your solution involved an already well known implementation or architecture. In this case, discuss why you think this is suitable for the current problem.
Answer:¶
I tried LeNet first, it give me pretty good result with a short time, so I read more about the traffic sign classification, I tried various way of preprocessing, and built a larger network with more layers compare to LeNet, the idea is the task is basically similar to the task of identifying the handwritings. The main difference are:
- This project has more inputs and classes
- This project has color image instead of a grayscale image
- The images from this data set was taken in various lighting conditions, result in a data set has high variance in the contrast. After data augmentation, I found it's very likely to overfit data, so I add dropout.
Step 3: Test a Model on New Images¶
Take several pictures of traffic signs that you find on the web or around you (at least five), and run them through your classifier on your computer to produce example results. The classifier might not recognize some local signs but it could prove interesting nonetheless.
You may find signnames.csv useful as it contains mappings from the class id (integer) to the actual sign name.
Implementation¶
Use the code cell (or multiple code cells, if necessary) to implement the first step of your project. Once you have completed your implementation and are satisfied with the results, be sure to thoroughly answer the questions that follow.
### Load the images and plot them here.
### Feel free to use as many code cells as needed.
Question 6¶
Choose five candidate images of traffic signs and provide them in the report. Are there any particular qualities of the image(s) that might make classification difficult? It could be helpful to plot the images in the notebook.
Answer:
# load test images
from skimage import io
import numpy as np
import matplotlib.image as mpimg
new_image = np.empty(shape=( 32, 32, 3), dtype=np.uint8)
raw_images=[]
transfered_images = []
l = [1,20,25,31,35]
test_imgs = []
for i in range(len(l)):
new_image = cv2.resize(cv2.imread('/home/luke/Pictures/{}.png'.format(str(l[i]))),(32,32))
raw_images.append(cv2.cvtColor(new_image, cv2.COLOR_BGR2RGB))
# src.create(32, 32, CV_8UC1);
# src = imread(cv2.resize(
# mpimg.imread('/home/luke/Pictures/{}.png'.format(str(l[i]))),(32,32)), CV_8UC1);
print(new_image.shape)
plt.figure(figsize=(16, 16))
for i in range(len(raw_images)):
plt.subplot(8, 8, i+1)
plt.axis('off')
plt.imshow(raw_images[i])
transfered_images.append(CLAHE_transform(raw_images[i]))
plt.figure(figsize=(16, 16))
for i in range(len(raw_images)):
plt.subplot(8, 8, i+1)
plt.axis('off')
plt.imshow(transfered_images[i])
prediction = tf.argmax(logits, 1)
with tf.Session() as sess:
saver.restore(sess, tf.train.latest_checkpoint('.'))
predict = sess.run(prediction, feed_dict={x: raw_images, keep_prob:1.0})
predict1 = sess.run(prediction, feed_dict={x: transfered_images, keep_prob:1.0})
print("Prediction with raw image: ", predict)
print("Prediction after CLAHE transformation: ", predict1)
print("Ground Truth: ", l)
Question 7¶
Is your model able to perform equally well on captured pictures when compared to testing on the dataset? The simplest way to do this check the accuracy of the predictions. For example, if the model predicted 1 out of 5 signs correctly, it's 20% accurate.
NOTE: You could check the accuracy manually by using signnames.csv (same directory). This file has a mapping from the class id (0-42) to the corresponding sign name. So, you could take the class id the model outputs, lookup the name in signnames.csv and see if it matches the sign from the image.
Answer:¶
The model give a very good estimation on the real data, although the real data is kind different(blurred by resizing) It received 100% accuracy on 5 images.
However interestingly, I found that without doing transform, it doesn't give a 100% accuracy. But to my eyes, there is not much difference before or after transformation. Actually, it's easier for me to recognize the image without the transformation.
### Visualize the softmax probabilities here.
### Feel free to use as many code cells as needed.
def visulize_prediction(transfered_images):
softmax_logits = tf.nn.softmax(logits)
top_k = tf.nn.top_k(softmax_logits, k=3)
with tf.Session() as sess:
sess.run(tf.global_variables_initializer())
saver = tf.train.import_meta_graph('./lenet.meta')
saver.restore(sess, "./lenet")
my_softmax_logits = sess.run(softmax_logits, feed_dict={x: transfered_images, keep_prob: 1.0})
my_top_k = sess.run(top_k, feed_dict={x: transfered_images, keep_prob: 1.0})
fig, axs = plt.subplots(len(transfered_images),4, figsize=(12, 14))
fig.subplots_adjust(hspace = .4, wspace=.2)
axs = axs.ravel()
for i, image in enumerate(transfered_images):
axs[4*i].axis('off')
axs[4*i].imshow(image)
axs[4*i].set_title('input')
guess1 = my_top_k[1][i][0]
index1 = np.argwhere(y_validation == guess1)[0]
axs[4*i+1].axis('off')
axs[4*i+1].imshow(X_validation[index1].squeeze())
axs[4*i+1].set_title('top guess: {} ({:.2f}%)'.format(guess1, 100*my_top_k[0][i][0]))
guess2 = my_top_k[1][i][1]
index2 = np.argwhere(y_validation == guess2)[0]
axs[4*i+2].axis('off')
axs[4*i+2].imshow(X_validation[index2].squeeze())
axs[4*i+2].set_title('2nd guess: {} ({:.2f}%)'.format(guess2, 100*my_top_k[0][i][1]))
guess3 = my_top_k[1][i][2]
index3 = np.argwhere(y_validation == guess3)[0]
axs[4*i+3].axis('off')
axs[4*i+3].imshow(X_validation[index3].squeeze())
axs[4*i+3].set_title('3rd guess: {} ({:.2f}%)'.format(guess3, 100*my_top_k[0][i][2]))
visulize_prediction(transfered_images)
visulize_prediction(raw_images)
Question 8¶
Use the model's softmax probabilities to visualize the certainty of its predictions, tf.nn.top_k could prove helpful here. Which predictions is the model certain of? Uncertain? If the model was incorrect in its initial prediction, does the correct prediction appear in the top k? (k should be 5 at most)
tf.nn.top_k will return the values and indices (class ids) of the top k predictions. So if k=3, for each sign, it'll return the 3 largest probabilities (out of a possible 43) and the correspoding class ids.
Take this numpy array as an example:
# (5, 6) array
a = np.array([[ 0.24879643, 0.07032244, 0.12641572, 0.34763842, 0.07893497,
0.12789202],
[ 0.28086119, 0.27569815, 0.08594638, 0.0178669 , 0.18063401,
0.15899337],
[ 0.26076848, 0.23664738, 0.08020603, 0.07001922, 0.1134371 ,
0.23892179],
[ 0.11943333, 0.29198961, 0.02605103, 0.26234032, 0.1351348 ,
0.16505091],
[ 0.09561176, 0.34396535, 0.0643941 , 0.16240774, 0.24206137,
0.09155967]])Running it through sess.run(tf.nn.top_k(tf.constant(a), k=3)) produces:
TopKV2(values=array([[ 0.34763842, 0.24879643, 0.12789202],
[ 0.28086119, 0.27569815, 0.18063401],
[ 0.26076848, 0.23892179, 0.23664738],
[ 0.29198961, 0.26234032, 0.16505091],
[ 0.34396535, 0.24206137, 0.16240774]]), indices=array([[3, 0, 5],
[0, 1, 4],
[0, 5, 1],
[1, 3, 5],
[1, 4, 3]], dtype=int32))Looking just at the first row we get [ 0.34763842, 0.24879643, 0.12789202], you can confirm these are the 3 largest probabilities in a. You'll also notice [3, 0, 5] are the corresponding indices.
Answer:¶
As the graph above shows, the network predict almost 100% accuracy for all the transformed images. That's reasonable, since these image are found in google search" Germen traffic signs" and the network is build based on the transfered image.
The interesting part is for the raw image. We can find most of the predictions are still accurate. However for the second one, although the true label is the second choice but it only get 2% probability. The reason I think is the watermark on the image, without the transform, the network confuse the watermark as some structure. After the transform however, the network seems to recognize it as noise.
Note: Once you have completed all of the code implementations and successfully answered each question above, you may finalize your work by exporting the iPython Notebook as an HTML document. You can do this by using the menu above and navigating to \n", "File -> Download as -> HTML (.html). Include the finished document along with this notebook as your submission.